A driving flipper with a robotic arm and a method for protecting the robotic arm. A robotic platform having a main frame and at least one obstacle climbing flipper with a robotic arm. The robotic arm has a folded mode substantially parallel to the longitudinal axis of the obstacle climbing flipper. The robotic arm has an operational mode protruding away from the longitudinal axis in an angle of at least 45 degrees.
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1. A robotic platform comprising:
a main frame;
a plurality of obstacle climbing flippers each mounted on said main frame and having a continuous track;
a plurality of robotic arms each mounted on one of said plurality of obstacle climbing flippers;
a plurality of end effectors each mounted on a distal end of one of said plurality of robotic arms;
wherein each one of said plurality of robotic arms has a folded mode and an operational mode, said robotic arm is parallel to a longitudinal axis of said obstacle climbing flipper when in said folded mode and laterally protrudes away from said longitudinal axis toward another of said plurality of robotic arms when in said operational mode.
17. A process for manufacturing of a robotic platform, comprising:
assembling a plurality of robotic arms on a plurality of obstacle climbing flippers, each one of said plurality of obstacle climbing flippers having a continuous track;
assembling a plurality of end effectors each on a distal end of one of said plurality of robotic arms;
connecting said plurality of obstacle climbing flippers to a robotic platform;
moving each one of said plurality of robotic arms from a folded mode to an operational mode, said robotic arm is parallel to a longitudinal axis of said obstacle climbing flipper when in said folded mode and protrudes away from said longitudinal axis toward another of said plurality of robotic arms when in said operational mode.
2. The robotic platform of
3. The robotic platform of
4. The robotic platform of
5. The robotic platform of
6. The robotic platform of
7. The robotic platform of
8. The robotic platform of
9. The robotic platform of
10. The robotic platform of
11. The robotic platform of
12. The robotic platform of
13. The robotic platform of
wherein said robotic platform further comprises an image sensor mounted on said robotic platform to image an operational space of said plurality of robotic arms.
14. The robotic platform of
15. The robotic platform of
16. The robotic platform of
wherein a respective said robotic arm of each of said left and right obstacle climbing flippers extends toward another said robotic arm of said left and right obstacle climbing flippers.
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This application claims the benefit of priority under 35 USC §119(e) of U.S. Provisional Patent Application No. 61/625,203 filed Apr. 17, 2012, the contents of which are incorporated herein by reference in their entirety.
The present invention, in some embodiments thereof, relates to a robotic platform and, more particularly, but not exclusively, to a robotic platform having one or more obstacle climbing flipper moving mechanism.
Flippers are used in robotic platforms for climbing obstacles such as stairs, rocks and slopes. Couture et al. (U.S. Patent Publication No. 2009/0314554) describe a mobile robot with two sets of left and right driving flipper associated with a chassis. In some implementations, each flipper is independently rotatable about a pivot axis with respect to the chassis allowing the chassis to tilt about the pivot axis with respect to the first and second sets of flippers.
Robotic arms are mounted on robotic platforms in a few typical configurations. Jacobsen (U.S. Patent Publication No. 2008/0167752) discloses a tracked robotic crawler with at least one articulated arm which moves relative to the frame unit in at least one dimension. Carr et al. (U.S. Pat. No. 4,621,562) discloses an unmanned remote control robot vehicle comprising a first arm having first and second ends, wherein said first end of said arm is pivotally connected to torrent assembly. The torrent assembly is rotatably connected to a chassis.
Robotic arms typically comprise a plurality of articulated links. Hinge joints can be used at alternating angles (eg perpendicular to each other) to improve flexibility of shape. In robotic arms the last element in the system, i.e. the wrist, generally has a moveable end effector to which is attached a gripper or some other tool. Several strategies are known in the art to replace end effectors. Hennekes et al. (U.S. Pat. No. 4,996,753) describe a robot end effector exchange system which permits use of a plurality of different end effectors. Dunning et al. (U.S. Pat. No. 5,860,900) describe an end effector storage station which stores end effectors in a horizontal and cantilevered position. The robot end effector exchange system also permits attachment and detachment of the end effector as a result of simple linear motion of the robot arm. Hennekes et al. (U.S. Pat. No. 4,512,709) describes a machine mechanism which utilizes an interchangeable plurality of tools.
Many robotic platforms use mechanisms for to eliminate reaction forces generated by robot manipulation, for example counterweights. Another mechanism is taught in Brow and Mass (U.S. Pat. No. 5,214,749) which discloses a robotic platform with a dynamically controlled center of mass having a dynamic controller for moving the robot arms so that for each dimension of movement of the end effector there are two degrees of freedom of the robot arm to decouple the center of mass from the end effector. Lindholm et al. (U.S. Pat. No. 4,695,027) disclose how to arrange a second robotic arm and a counterweight to be displaceable on the primary arm the center of gravity of the arm system is situated in immediate proximity to the pivotal axis of the primary arm on the stand, whereby the secondary arm and the counterbalance are at the same time linearly displaceable towards and away from each other, respectively, on respective sides of the pivot axis by means of a movement-transmitting mechanism.
According to an aspect of some embodiments of the present invention there is provided a robotic platform comprising: a main frame; at least one obstacle climbing flipper mounted on the main frame having a moving mechanism and having robotic arm mounted on the at least one obstacle climbing flipper having a proximal end and a distal end; and an end effector mounted on the distal end; wherein the robotic arm has a folded mode and an operational mode, when the robotic arm being substantially parallel to a longitudinal axis of the obstacle climbing flipper when in the folded mode and protrudes away from the longitudinal axis in an angle of at least 45 degrees from the longitudinal axis when in the operational mode.
Optionally, the robotic arm in the folded mode is encircled by the moving mechanism. Optionally, the moving mechanism is a continuous track which encircles the robotic arm in the folded mode. Optionally, the continuous track encircles exactly two driving wheels. Optionally, the obstacle climbing flipper is laterally mounted in parallel to the main frame when the robotic arm is in the folded mode. Optionally, the robotic arm is connected to the obstacle climbing flipper by a plurality of joints to allow multiple degrees of freedom for manipulations by the robotic arm. Optionally, the robotic arm is rotatable about a point of attachment to the obstacle climbing flipper. Optionally, the obstacle climbing flipper has a plurality of foramens and the robotic arm occupies at least part of the plurality of foramen when the robotic arm is in the folded mode. Optionally, the robotic arm protrudes laterally with respect to the obstacle climbing flipper. Optionally, the main frame has a top side and the top side is essentially flat thereby creating a surface for loading objects. Optionally, the robotic platform further comprises an image sensor wherein the main frame has a top side which is essentially flat and the image sensor is mounted on the top side. Optionally, the robotic platform further comprises a front robotic arm for controlling a center of gravity of the robotic platform wherein the main frame has a front side and the front robotic arm robotic arm is mounted on the front side.
Optionally, the robotic platform, wherein at right and a left obstacle climbing flippers are mounted on the robotic platform and a right robotic arm is connected to right obstacle climbing flipper and a left robotic arm is connected to left obstacle climbing flippers and a right end effector is connected to the right robotic arm and a left end effector is connected to the left robotic arm and the right robotic arm replaces the left end effector and the left robotic arm replaces the right end effector. Optionally the robotic platform, further comprises an image sensor, wherein at right and a left obstacle climbing flippers are mounted on the robotic platform and a right robotic arm is connected to right obstacle climbing flipper and a left robotic arm is connected to left obstacle climbing flippers, and the image sensor is mounted the robotic platform between the right robotic arm and the left robotic arm, covering a substantial part of the right robotic arm and the left robotic arm's operational space. Optionally, the robotic platform, further comprises an image sensor, wherein the image sensor is mounted at a joint around which the obstacle climbing flipper is tilted.
According to an aspect of some embodiments of the present invention there is provided a robotic platform comprising a front robotic arm for controlling the robotic platform's center of gravity wherein the front robotic arm moves essentially away from and towards the robotic platform. Optionally, the robotic platform further comprises at least one obstacle climbing flipper.
According to an aspect of some embodiments of the present invention there is provided method of protecting robotic arms and their end effectors while driving a robotic platform by folding the robotic arms and end effectors into obstacle climbing flippers.
According to an aspect of some embodiments of the present invention there is provided a process for manufacturing of a robotic platform, comprising: assembling a robotic arm on an obstacle climbing flipper; and connecting the obstacle climbing flipper to a robotic platform; wherein the robotic arm has a folded mode and an operational mode, when the robotic arm being substantially parallel to a longitudinal axis of the obstacle climbing flipper when in the folded mode and protrudes away from the longitudinal axis in an angle of at least 45 degrees from the longitudinal axis when in the operational mode.
Unless otherwise defined, all technical and/or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and/or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.
Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings makes apparent to those skilled in the art how embodiments of the invention may be practiced.
In the drawings:
The present invention, in some embodiments thereof, relates to a robotic platform and, more particularly, but not exclusively, to a robotic platform having one or more obstacle climbing flipper. The present invention, in some embodiments thereof, relates to a robotic arm which is mounted on an obstacle climbing flipper of a robotic platform. When the robotic platform is mobilized, the robotic arm is folded into foramens of the obstacle climbing flipper. In operational mode the robotic arm protrudes out essentially perpendicular to the obstacle climbing flipper and manipulates objects with or without the assistance of an image sensor. The robotic arm is attached by moveable connectors which provide the robotic arm degrees of freedom. The flippers moving mechanism provides additional degrees of freedom to the robotic arm using existing structure and propulsion elements.
Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.
Referring now to the drawings,
Reference is now made to
Reference is now made to
Reference is now made to
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Reference is now also made to
The present invention, in some embodiments thereof, relates to a robotic platform with at least two lateral robotic arms. Each robotic arm has two degrees of freedom. One of the degrees of freedom is an integral moving mechanism of the obstacle climbing flipper on which the robotic arm is mounted. This configuration takes advantage of existing structures and minimizes the moving mechanisms of the robotic platform while maintaining multiple degrees of freedom.
It is expected that during the life of a patent maturing from this application many relevant obstacle climbing flippers, main frames, robotic arm, end effector, image sensors, joints and moving mechanisms will be developed and the scopes of the terms obstacle climbing flippers, main frames, robotic arm, end effector, image sensors, joints and moving mechanisms are intended to include all such new technologies respectively a priori.
As used herein the term “about” refers to ±10%.
The terms “comprises”, “comprising”, “includes”, “including”, “having” and their conjugates mean “including but not limited to”. This term encompasses the terms “consisting of” and “consisting essentially of”.
The phrase “consisting essentially of” means that the composition or method may include additional ingredients and/or steps, but only if the additional ingredients and/or steps do not materially alter the basic and novel characteristics of the claimed composition or method.
As used herein, the singular form “a”, “an” and “the” include plural references unless the context clearly dictates otherwise. For example, the term “a compound” or “at least one compound” may include a plurality of compounds, including mixtures thereof.
The word “exemplary” is used herein to mean “serving as an example, instance or illustration”. Any embodiment described as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments and/or to exclude the incorporation of features from other embodiments.
The word “optionally” is used herein to mean “is provided in some embodiments and not provided in other embodiments”. Any particular embodiment of the invention may include a plurality of “optional” features unless such features conflict.
Throughout this application, various embodiments of this invention may be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible subranges as well as individual numerical values within that range. For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range.
Whenever a numerical range is indicated herein, it is meant to include any cited numeral (fractional or integral) within the indicated range. The phrases “ranging/ranges between” a first indicate number and a second indicate number and “ranging/ranges from” a first indicate number “to” a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numerals therebetween.
It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.
Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.
All publications, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting.
Levy, Elad, Cantor, Daniel, Wolf, Yosi, Rotbart, Mor, Vaynberg, Mark, Borowitz, Itamar, Asher, Yehonatan
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